JP2016083678A - Robot hand for injecting molten metal - Google Patents

Abstract

PROBLEM TO BE SOLVED: To utilize the wrist motor function a robot arm has with an improvement in molten metal pumping workability and molten metal injection function in a robot hand for injecting molten metal used by being detachably attached on a robot arm of a robot for injecting molten metal.SOLUTION: A robot hand for injecting molten metal 20 used by being detachably attached on the robot arm 10 of a robot for injecting molten metal 100 comprises a cylindrical member 21 attached around the projection of a wrist rotation member 17 in a tip face 16F of a wrist bending member 16 and extended forward in the axial direction of a wrist rotation shaft, an axial member 22 attached to the tool attaching face 17F of the wrist rotation member 17 to extend the interior of the hollow part of the cylindrical member 21 forward in the axial direction of the wrist rotation shaft, and a ladle 23 pivoted by a tip support part 21E separated forward in the axial direction of the wrist rotation shaft from the attachment part to the tip face 16F of the wrist bending member 16 in the cylindrical member 21, disposed outside of the cylindrical member 21, and coupled with the axial member 22 to be capable of tilt operation.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a pouring robot hand.

Conventionally, there are robot pouring robots described in Patent Documents 1 and 2.
The pouring robot described in Patent Document 1 is a robot in which a pouring machine is detachably attached to an arm of a robot. The pouring machine is composed of a base attached to the tip of the arm, a ladle supported by the base in a tiltable manner, and a dedicated servo motor that is supported by the base and drives the ladle. A feed line for feeding power to the servo motor and a control wire for detecting the tilt position of the ladle are wired to the tip of the arm. After the molten metal stored in the holding path is supplied to the ladle, the ladle is moved to a predetermined part of the casting machine by driving the arm, and further, the ladle is tilted to pour it into the predetermined part of the casting machine. It makes hot water possible.

  In the pouring robot described in Patent Document 2, a tool chuck is attached to a rotation shaft provided on an arm of the robot, and a ladle is detachably attached to the tool chuck. The ladle is lowered and immersed in the molten metal furnace by driving the arm, and after a predetermined amount of molten metal is drawn into the ladle, the ladle is moved to a predetermined part of the casting machine by the movement of the arm, and the rotation shaft is further rotated. By tilting the ladle, the molten metal can be poured into a predetermined part of the casting machine.

Japanese Patent Laid-Open No.5-115962 JP 2012-71317 A

The pouring robot described in Patent Document 1 has the following problems.
(1) For example, a dedicated servo motor for tilting the ladle is required in addition to the basic three-axis and wrist three-axis drive motors of the vertical articulated robot.

  (2) When a ladle and a dedicated servo motor are attached to the tip of the arm, and the ladle is immersed in a molten metal furnace (Al alloy melt temperature = about 670 to 760 ° C) to pump up the molten metal It is difficult to ensure the heat resistance of the dedicated servo motor.

  (3) Power supply lines and control wires wired to the tip of the arm tend to cause wire troubles such as interference with peripheral equipment or thermal damage due to molten metal in the molten metal furnace.

The pouring robot described in Patent Document 2 has the following problems.
(1) The wrist tip axis of the vertical articulated robot is used as a rotation axis to which the tool chuck is attached. The ladle is attached directly to the tool chuck attached to the wrist tip axis, and the arm The distance from the tip to the ladle is small. Therefore, when the ladle is immersed in the molten metal furnace and the molten metal is pumped up, the bearing portion of the wrist tip shaft is likely to break down due to thermal damage. .

  (2) As described above in (1), since the distance from the tip of the arm to the ladle is small, the ladle cannot be moved far from the robot body, and the pouring range of the robot relative to the casting machine is narrow.

  (3) A ladle is attached via a tool chuck to a rotation axis consisting of a wrist tip axis of a vertical articulated robot, and an accessory such as a tool chuck is attached around the ladle. There is a possibility that the ladle and surrounding accessories may interfere with the inner diameter of the furnace when the hot water is drawn from the molten metal furnace or interfere with the casting mold when immersed in the casting machine, thereby hindering the drawing of the hot water and pouring of the hot water.

  An object of the present invention is to provide a pouring robot hand that is detachably attached to a robot arm of a pouring robot and uses a wrist motion function of the robot arm, as well as hot water pouring workability and pouring workability. It is to improve.

  The invention according to claim 1 includes at least a wrist bending member and a wrist rotating member at the tip of the arm, the wrist bending member swings around a wrist bending axis orthogonal to the longitudinal direction of the arm, and the wrist rotating member is the wrist. A robot arm in which a tool mounting surface is provided on a wrist rotating member that rotates around a wrist rotating shaft that is pivotally supported by the wrist bending member so as to be orthogonal to the bending axis and that protrudes from the tip surface of the wrist bending member A robotic hand for pouring used to be detachably attached to the wrist, and is attached around the protruding portion of the wrist rotating member on the tip surface of the wrist bending member and extends toward the front in the axial direction of the wrist rotating shaft A cylindrical member that is attached to the tool mounting surface of the wrist rotating member, and that extends inside the hollow portion of the cylindrical member toward the front of the wrist rotating shaft in the axial direction; The tip of the wrist bending member in the member It is pivotally supported by a tip support part that is separated from the attachment part to the front side in the axial direction of the wrist rotation shaft, and is arranged outside the cylindrical member and can be tilted by being connected to the shaft-like member. The ladle is made to have.

  According to a second aspect of the present invention, in the first aspect of the present invention, the shaft-shaped member is attached to the tool mounting surface of the wrist rotating member, and is elongated in the hollow portion of the cylindrical member. The tip of the cylindrical member comprises a rotating shaft, and the ladle is attached to a driven shaft that is provided at the tip support portion of the cylindrical member and extends inside and outside the hollow portion of the cylindrical member. The long rotation shaft and the driven shaft are pivotally supported by the support portion, and are arranged so as to intersect with each other and are connected to each other inside the hollow portion of the cylindrical member via a connecting means.

  The invention according to claim 3 is the invention according to claim 1 or 2, further comprising: a drive motor for a wrist bending member in the robot arm; and a drive motor for the wrist rotation member. It was made to become.

(Claim 1)
(a) A cylindrical member is attached to the distal end surface of the wrist bending member that constitutes the robot arm, and the shaft-like member that is attached to the tool mounting surface of the wrist rotating member that also constitutes the robot arm is the hollow portion of the cylindrical member. The ladle that extends to the inside and pivotally supported by the tip support portion of the tubular member is connected to the shaft member and tilted. It makes the ladle tiltable by utilizing the wrist movement function of the robot arm, and there is no need to use a dedicated servo motor for tilting the ladle, eliminating the need for power consumption for the dedicated motor. Energy saving can be realized, and there is no electric wire trouble, the equipment cost of the pouring robot can be reduced, and the pumping and pouring productivity of the pouring robot can be improved.

  (b) A tubular member is attached to the distal end surface of the wrist bending member provided at the distal end portion of the robot arm, and the axial direction of the wrist rotation axis from the attachment portion of the tubular member to the distal end surface of the wrist bending member. A ladle was pivotally supported on the tip support part that was separated forward. Thereby, the distance from the tip of the robot arm to the ladle pivotally supported by the tip support portion of the cylindrical member is large, and when the ladle is immersed in the molten metal furnace to pump up the molten metal, it is built in the robot arm. The bearing part of the wrist bending shaft and wrist rotating shaft is not easily damaged by heat, and the robot body is not easily damaged. A failure of a bearing portion such as a shaft-like member provided on the cylindrical member can be easily and quickly solved by replacing or disassembling only the cylindrical member without reaching the robot body.

  (c) As described above (b), since the distance from the tip of the robot arm to the ladle pivotally supported by the tip support portion of the cylindrical member is large, the ladle pivotally supported by the tip support portion of the cylindrical member Can be extended far from the robot body, and the pouring range of the robot for the casting machine can be expanded.

(Claim 2)
(d) The ladle is attached to the driven shaft that is provided at the distal end support portion of the cylindrical member and extends to the inside and outside of the hollow portion of the cylindrical member, so that the ladle is attached to the distal end support portion of the cylindrical member. Pivoted. That is, the ladle is directly connected to the driven shaft provided at the tip support portion of the cylindrical member, and there is no large peripheral accessory for attaching the ladle around the ladle. Therefore, there is no possibility that the ladle and peripheral accessories will interfere with the inner diameter of the furnace when the hot water is drawn from the molten metal furnace, and there is no possibility of interference with the casting mold when pouring into the casting machine.

(Claim 3)
(e) The drive motor for the wrist bending member and the drive motor for the wrist rotating member in the robot arm are arranged at the proximal end of the arm. Therefore, each drive motor is not likely to be overheated by the molten metal in the molten metal furnace, and heat resistance can be easily secured.

FIG. 1 is a schematic perspective view showing a pouring robot according to the first embodiment. FIG. 2 is a schematic sectional view showing a pouring robot hand. FIG. 3 is a schematic perspective view showing a pouring robot according to the second embodiment. FIG. 4 is a schematic diagram showing the hot water pumping operation of the pouring robot of the present invention. FIG. 5 is a schematic diagram showing a hot water pumping operation of a conventional pouring robot.

Example 1 (FIGS. 1, 2, 4, and 5)
A pouring robot 100 shown in FIG. 1 has a pouring robot hand 20 that is detachably attached to the tip of a robot arm 10 and pumps a ladle 23 provided in the pouring robot hand 20. Rotate between the station and the pouring station. The pouring robot 100 draws the molten metal in the molten metal furnace 30 into the ladle 23 at the molten metal drawing station, and allows the molten metal in the ladle 23 to be poured into a predetermined part of the casting machine at the pouring station.

  The pouring robot 100 is arranged on the robot fixing base 11 in order from the robot fixing base 11 side, the robot turning base 12, the upper arm 13, the forearm 14, the wrist twisting member 15, the wrist bending member 16, and the wrist rotating member 17. Each is provided.

  Here, the pouring robot 100 is a six-axis vertical articulated robot composed of a first axis J1, a second axis J2,..., A sixth axis J6 in order from the robot fixing base 11 side. The first axis to the third axis are the basic three axes, and the fourth axis to the sixth axis are the wrist three axes. Each axis is a turning axis, and the turning movement direction is indicated by an arrow. .

  With reference to the orientation shown in FIG. 1, the axial direction of the turning motion of each axis in relation to a coordinate system in which the right side on the page is the X axis, the vertical direction is the Y axis, and the upper direction is the Z axis. Is as follows.

First axis J1: An axis for rotating the robot turning base 12 with respect to the robot fixing base 11 about an axis parallel to the Z axis. Second axis J2: An upper arm 13 for the robot turning base 12 about an axis parallel to the Y axis. 3rd axis J3: axis that moves the forearm 14 up and down with respect to the upper arm 13 4th axis J4: axis that moves around the axis parallel to the X axis Axis for rotating 15 with respect to forearm Fifth axis J5: Axis for swinging wrist bending member 16 up and down with respect to wrist twisting member 15 around an axis parallel to Y-axis Sixth axis J6: orthogonal to Y-axis An axis that rotates the wrist rotating member 17 with respect to the wrist bending member 16 about an axis parallel to the X axis or the Z axis.

  The first axis drive motor 11, the second axis drive motor M2, and their reduction gears are mounted on the upper part of the robot rotation base 12 which is mounted on the robot fixing base 11 so as to be capable of turning. Drive elements for transmitting the driving force of the first axis driving motor M1 to the first axis J1 are arranged inside the robot fixing base 11 and the robot turning base 12. A drive element for transmitting the driving force of the second axis driving motor M2 to the second axis J2 is disposed in the robot turning base 12 and the upper arm 13 connected to the robot turning base 12 so as to be able to turn. Yes.

  A third shaft drive motor M3 and their reduction gears are mounted on the base end portion that is pivotably connected to the upper arm 13 of the forearm 14. Inside the upper arm 13 and the forearm 14, a driving element for transmitting the driving force of the third axis driving motor M3 to the third axis J3 is disposed.

  The motor mounting base 14A fixedly provided at the base end portion of the forearm 14 is equipped with fourth to sixth drive motors M4 to M6 and their reduction gears. A drive element for transmitting the driving force of the fourth shaft drive motor M4 to the fourth shaft J4 is disposed inside the forearm 14 and the wrist twisting member 15 that is pivotably connected to the forearm 14. The forearm 14, the wrist twisting member 15, and the wrist bending member 16 that is pivotally connected to the wrist twisting member 15 are driven to transmit the driving force of the fifth axis driving motor M5 to the fifth axis J5. The element is placed. In the forearm 14, the wrist twisting member 15, the wrist bending member 16, and the wrist rotating member 17 pivotably connected to the wrist bending member 16, the driving force of the sixth axis driving motor M6 is applied to the sixth axis J6. A drive element for transmission is arranged.

Hereinafter, the pouring robot hand 20 will be described in detail.
In the pouring robot hand 20, the fifth axis J5 of the robot arm 10 in the pouring robot 100 is set as the wrist bending axis 16S for the wrist bending member 16, and the sixth axis J6 of the robot arm 10 is rotated at the wrist. The wrist rotation shaft 17S for the member 17 is assumed. Accordingly, as shown in FIG. 2, the pouring robot hand 20 includes a wrist bending member 16 and a wrist rotating member 17 via a wrist twisting member 15 at the tip of the forearm 14 of the robot arm 10. The wrist bending member 16 swings around a wrist bending axis 16S (J5) orthogonal to the longitudinal direction of the forearm 14 and the wrist twisting member 15, and the wrist rotating member 17 is set so as to be orthogonal to the wrist bending axis 16S. 16 rotates around the wrist rotation shaft 17S (J6) pivotally supported by the motor 16. A tool attachment surface 17F is provided on the wrist rotating member 17 protruding from the distal end surface 16F of the wrist bending member 16. Generally, a work tool such as a welding torch or a paint gun is detachably attached to the tool mounting surface 17F of the wrist rotating member 17.

  The pouring robot hand 20 has a cylindrical member 21 (base end portion 21A, upper intermediate portion 21B, cylindrical portion 21C, lower intermediate portion) around the protruding portion of the wrist rotating member 17 on the distal end surface 16F of the wrist bending member 16. 21D and assembly of tip support portion 21E). The cylindrical member 21 extends toward the front in the axial direction of the wrist rotating shaft 17S (J6) (the direction away from the distal end surface 16F of the wrist bending member 16).

  The pouring robot hand 20 includes a shaft-like member 22 attached to the tool attachment surface 17F of the wrist rotating member 17. The shaft-like member 22 extends inside the hollow portion of the tubular member 21 toward the front in the axial direction of the wrist rotation shaft 17S (J6) (in the direction away from the distal end surface 16F of the wrist bending member 16).

  The pouring robot hand 20 is attached to the front end surface 16F of the wrist bending member 16 of the tubular member 21 from the front of the wrist rotating shaft 16S (J6) in the axial direction (from the front end surface 16F of the wrist bending member 16). The ladle 23 for the molten metal pivotally supported by the front-end | tip support part 21E separated in the (separation direction) is provided. The ladle 23 is disposed outside the cylindrical member 21 and is connected to the shaft-shaped member 22 inside the cylindrical member 21, and can be tilted by the turning operation of the wrist rotating member 17.

  In the present embodiment, the shaft-shaped member 22 is a long rotating shaft that is attached to the tool mounting surface 17 </ b> F of the wrist rotating member 17 and extends inside the hollow portion of the tubular member 21. The ladle 23 is supported by a tip support portion 21E of the cylindrical member 21 with a mounting shaft 24 that is detachably fixed to the ladle 23, and a driven shaft 25 that extends into and out of the hollow portion of the cylindrical member 21. Are pivotally supported by the tip support portion 21E of the cylindrical member 21. The shaft-like member 22 (long rotating shaft) and the driven shaft 25 are arranged so as to cross each other (orthogonally arranged in this embodiment), and connecting means (shaft-like member 22 in this embodiment) inside the hollow portion of the cylindrical member 21. Are connected via a bevel gear train 27) in which a bevel gear 22G provided on the shaft and a bevel gear 25G provided on the driven shaft 25 are engaged with each other.

  The shaft member 22 is supported by bearings 28A and 28B provided on the inner diameter portions of the upper intermediate portion 21B and the lower intermediate portion 21D of the cylindrical member 21. The driven shaft 25 is supported by bearings 29A and 29B provided on the inner diameter portion of the tip support portion 21E of the cylindrical member 21. At the time of failure of each bearing 28A, 28B, 29A, 29B, etc., after removing the pouring robot hand 20 from the wrist bending member 16 and the wrist rotating member 17 of the robot arm 10, the base end 21A of the cylindrical member 21 By disassembling the intermediate portion 21B, the cylindrical portion 21C, the lower intermediate portion 21D, and the tip support portion 21E from each other and separating the shaft-like member 22 and the driven shaft 25, the bearings 28A, 28B, 29A, and 29B can be easily Can be exchanged.

The pouring robot hand 100 operates as follows.
(A) Molten metal drawing operation
i. The ladle 23 provided by the hot water supply robot hand 20 pivotally supported on the tip support portion 21E of the tubular member 21 is positioned at the molten metal pumping station by the turning motion of the axes J1 to J6 of the robot arm 10.

  ii. By swinging the wrist bending shaft 16S (J5) of the robot arm 10, the cylindrical member 21 is swung in the direction A shown in FIG. 1, and the cylindrical member 21 is arranged in a direction along the central axis of the molten metal furnace 30. Then, the ladle 23 is lowered and immersed in the molten metal furnace 30 (FIG. 4).

  iii. The ladle 23 immersed in the molten metal furnace 30 is tilted in the direction B shown in FIG. 1 by the turning motion of the wrist rotating shaft 17S (J6) of the robot arm 10, and a predetermined amount of molten metal is drawn into the ladle 23. .

(B) Pouring operation
i. The ladle 23 from which the molten metal has been drawn is positioned on a predetermined portion of the casting machine at the pouring station by the turning motion of the axes J1 to J6 of the robot arm 10.

  ii. The ladle 23 is tilted by a predetermined angle by the turning operation of the wrist rotation shaft 17S (J6) of the robot arm 16, and a required amount of molten metal is poured into a predetermined portion of the casting machine.

  According to the pouring robot 100 using the pouring robot hand 20 of the present embodiment, the following operational effects can be obtained.

  (a) A cylindrical member 21 is attached to the distal end surface 16F of the wrist bending member 16 constituting the robot arm 10 and is attached to the tool mounting surface 17F of the wrist rotating member 17 which also constitutes the robot arm 10. The ladle 23 extending inside the hollow portion of the tubular member 21 and pivotally supported by the tip support portion 21E of the tubular member 21 is connected to the shaft member 22 and tilted. The ladle 23 can be tilted by utilizing the wrist movement function of the robot arm 10, and it is not necessary to use a dedicated servo motor for tilting the ladle 23, and power consumption for the dedicated motor can be reduced. Energy saving can be realized without using it, and there is no electric wire trouble, the equipment cost of the pouring robot 100 can be reduced, and hot water pumping and pouring productivity by the pouring robot 100 can be improved.

  (b) The tubular member 21 is attached to the distal end surface 16F of the wrist bending member 16 provided at the distal end portion of the robot arm 10, and the attachment portion of the tubular bending member 16 to the distal end surface 16F of the wrist bending member 16 is attached. A ladle 23 was pivotally supported on a tip support portion 21E that is separated forward in the axial direction of the wrist rotation shaft 17S. Thereby, the distance L (FIG. 4) from the front-end | tip part of the robot arm 10 to the ladle 23 pivotally supported by the front-end | tip support part 21E of the cylindrical member 21 is large, and the ladle 23 is immersed in the molten metal furnace 30, and melted. When pumping up, the bearings of the wrist bending shaft 16S and the wrist rotating shaft 17S built in the robot arm 10 are not easily damaged by heat, and the robot main body is not easily damaged. Failure of the bearing portion (bearings 28A, 28B, 29A, 29B) such as the shaft-shaped member 22 provided on the cylindrical member 21 does not reach the robot body, but can be easily and quickly performed by replacing or disassembling only the cylindrical member 21. Solvable.

  In the conventional pouring robot shown in FIG. 5, there is almost no distance L from the tip of the robot arm to the ladle.

(c) Since the distance from the tip of the robot arm 10 to the ladle 23 pivotally supported by the tip support 21E of the cylindrical member 21 is large as described above (b), the tip support 21E of the cylindrical member 21 is large. The ladle 23 pivotally supported by the robot 100 can be extended far from the robot body, and the pouring range K (FIG. 4) of the robot 100 relative to the casting machine can be expanded.
In the conventional pouring robot shown in FIG. 5, the pouring range K of the robot is small.

  (d) The ladle 23 is attached to a driven shaft 25 that is provided at the distal end support portion 21E of the cylindrical member 21 and extends inside and outside the hollow portion of the cylindrical member 21, so that the cylindrical member 21 is pivotally supported by the tip support portion 21E. That is, the ladle 23 is directly connected to the driven shaft 25 provided on the tip support portion 21 </ b> E of the cylindrical member 21, and there is no large peripheral accessory for attaching the ladle 23 around the ladle 23. . Therefore, there is no possibility that the ladle 23 and peripheral accessories will interfere with the furnace inner diameter N (FIG. 4) when the hot water is drawn from the molten metal furnace 30, and there is no possibility that the ladle 23 and surrounding accessories will interfere with the casting mold when pouring the casting machine.

  In the conventional pouring robot shown in FIG. 5, large peripheral accessories such as the ladle 41 and the tool chuck 42 may interfere with the furnace inner diameter N of the molten metal furnace.

  (e) A motor mounting base in which a fifth axis driving motor M5 for the wrist bending member 16 in the robot arm 10 and a sixth axis driving motor M6 for the wrist rotating member 17 are provided at the proximal end of the forearm 14. 14A. Therefore, each drive motor M5, M6 is not likely to be overheated by the molten metal in the molten metal furnace 30, and heat resistance can be easily secured.

(Example 2) (FIG. 3)
The difference between the pouring robot 200 of the second embodiment shown in FIG. 3 and the pouring robot 100 that is the six-axis vertical articulated robot of the first embodiment is that the fourth axis J4 of the pouring robot 100 is changed. This is because the present invention is applied to a 5-axis vertical articulated robot in which the fifth axis J5 and the sixth axis J6 of the pouring robot 100 are the fourth axis J4 and the fifth axis J5, respectively.

  That is, in the robot arm 10 of the pouring robot 200, the wrist torsion member 15 does not rotate with respect to the forearm 14, and the fourth axis J4 is the wrist bending axis 16S for the wrist bending member 16, The fifth axis J5 is a wrist rotation axis 17S for the wrist rotation member 17. As a result, the pouring robot hand 20 is attached to the robot arm 10 including the wrist bending member 16 and the wrist rotating member 17 directly on the tip of the forearm 14 (without the wrist twisting member 15). It was.

  Therefore, even in the pouring robot hand 20 attached to the robot arm 10 of such a pouring robot 200, the attachment structure of the tubular member 21 to the tip surface 16F of the wrist bending member 16, the wrist rotation The attachment structure of the shaft-like member 22 to the tool mounting surface 17F of the member 17 and the pivotal support structure of the ladle 23 to the tip support portion 21E of the cylindrical member 21 are the same as in the first embodiment. Has the same effect as in.

  In other words, since the present invention is a pouring robot hand that uses two wrist axes (wrist bending axis and wrist rotation axis), even a 5-axis vertical articulated robot robot hand can be used for pouring. Became.

  The embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration of the present invention is not limited to this embodiment, and even if there is a design change or the like without departing from the gist of the present invention. It is included in the present invention. For example, if the pouring robot to which the present invention is applied has an arm provided with a wrist bending member and a wrist rotating member, it does not necessarily have to have both an upper arm and a forearm.

  Further, the connecting means between the shaft-like member (long rotating shaft) and the driven shaft constituting the pouring robot hand is not limited to the bevel gear train, and may be other connecting means such as a universal joint. .

  According to the present invention, in the pouring robot hand used detachably attached to the robot arm of the pouring robot, the wrist movement function of the robot arm is utilized, and the hot water drawing workability and the pouring workability are provided. Can be improved.

100, 200 Pouring robot 10 Robot arm 11 Robot fixing base 12 Robot swivel base 13 Upper arm 14 Forearm 15 Wrist twisting member 16 Wrist bending member 16F Tip surface 16S Wrist bending shaft 17 Wrist rotating member 17F Tool mounting surface 17S Wrist rotating shaft 20 Pouring robot hand 21 Tubular member 21E Tip support 22 Shaft member 23 Ladle 25 Driven shaft 27 Bevel gear train (connecting means)
30 Molten furnace J1 1st axis J2 2nd axis J3 3rd axis J4 4th axis J5 5th axis J6 6th axis M1 1st axis drive motor M2 2nd axis drive motor M3 3rd axis drive motor M4 4th axis drive Motor M5 5th axis drive motor M6 6th axis drive motor

Claims (3)

At least the wrist bending member and the wrist rotating member are provided at the tip of the arm, the wrist bending member swings around the wrist bending axis orthogonal to the longitudinal direction of the arm, and the wrist rotating member is orthogonal to the wrist bending axis. The wrist rotation member that rotates around the wrist rotation shaft pivotally supported by the wrist bending member and protrudes from the tip surface of the wrist bending member is used detachably attached to the robot arm provided with the tool attachment surface. A robotic hand for pouring hot water,
A tubular member attached around the protruding portion of the wrist rotating member at the distal end surface of the wrist bending member, and extending toward the front in the axial direction of the wrist rotating shaft;
A shaft-shaped member attached to the tool mounting surface of the wrist rotating member and extending inside the hollow portion of the cylindrical member toward the front in the axial direction of the wrist rotating shaft;
The tubular member is pivotally supported by a distal end support portion that is separated from the attachment portion of the wrist bending member to the distal end surface of the wrist member in the axial direction of the wrist rotation shaft, and is disposed outside the tubular member and has a shaft. A pouring robot hand comprising a ladle connected to a member and made tiltable. The shaft-shaped member is attached to the tool mounting surface of the wrist rotating member, and includes a long rotating shaft extending inside the hollow portion of the cylindrical member,
The ladle is pivotally supported on the tip support portion of the cylindrical member by being attached to a driven shaft provided at the tip support portion of the cylindrical member and extending inside and outside the hollow portion of the cylindrical member. And
The robotic hand for pouring according to claim 1, wherein the long rotating shaft and the driven shaft are arranged so as to cross each other and are connected via a connecting means inside the hollow portion of the cylindrical member.   The pouring robot hand according to claim 1 or 2, wherein a drive motor for a wrist bending member and a drive motor for the wrist rotating member in the robot arm are arranged at a base end portion of the arm.

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